#ifndef KeyPoint_H_
#define KeyPoint_H_
#include "FeatureDescriptor.h"
#include <Eigen/Core>

class KeyPoint {
	public:
		int index_number;
		FeatureDescriptor * surf_descriptor;
		float frame_x;
		float frame_y;
		float stabilety;
		Eigen::Vector3f position;
		float px;
		float py;
		float pz;
		float tmp_x;
		float tmp_y;
		float tmp_z;
		bool valid;
		int r;
		int g;
		int b;
		int nr_words;
		float * word_distances_value;
		int * word_distances_sort_index;
		float * word_distances_sort_value;
		KeyPoint();
		~KeyPoint();
		void setWordDistances(float * distances, int nr_words);
};


#endif
